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Stock-Based Compensation - Summary of Option Activities (Details) - Employee and Non-Employee stock options - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Range of Exercise Prices    
Exercise prices, outstanding stock option awards, low end of range (in dollars per share) $ 3.87  
Options Outstanding (in shares) 5,108 3,019
Weighted Average Exercise Price (in dollars per share) $ 14.54 $ 22.51
Options Exercisable (in shares) 1,226 172
Weighted Average Exercise Price (in dollars per share) $ 23.44 $ 32.68
Weighted Average Remaining Contractual Life (In years) 5 years 8 months 12 days 6 years
$32.68    
Range of Exercise Prices    
Exercise prices, outstanding stock option awards, high end of range (in dollars per share) $ 32.68 $ 32.68
Options Outstanding (in shares) 328 356
Weighted Average Exercise Price (in dollars per share) $ 32.68 $ 32.68
Options Exercisable (in shares) 243 172
Weighted Average Exercise Price (in dollars per share) $ 32.68 $ 32.68
Weighted Average Remaining Contractual Life (In years) 3 years 7 months 6 days 4 years 7 months 6 days
$21.15    
Range of Exercise Prices    
Exercise prices, outstanding stock option awards, low end of range (in dollars per share) $ 21.15 $ 21.15
Options Outstanding (in shares) 2,606 2,663
Weighted Average Exercise Price (in dollars per share) $ 21.15 $ 21.15
Options Exercisable (in shares) 983 0
Weighted Average Exercise Price (in dollars per share) $ 21.15  
Weighted Average Remaining Contractual Life (In years) 5 years 2 months 12 days 6 years 2 months 12 days
$3.87    
Range of Exercise Prices    
Options Outstanding (in shares) 2,174  
Weighted Average Exercise Price (in dollars per share) $ 3.87  
Options Exercisable (in shares) 0  
Weighted Average Remaining Contractual Life (In years) 6 years 6 months